A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

Abstract

This paper proposes guidelines for controller design for steer-by-wire vehicles. The proposed controller removes the velocity dependency of the vehicle dynamics and accounts for the nonlinear characteristics of the lateral tyre force. Using an H∞ approach, bounds on the closed loop sensitivity are presented, which results in guidelines for the controller design. Using the designed controller, simulations using a multi-body model show that the yaw dynamics of the vehicle are stabilised for extreme manoeuvres.